function delta_Tb = calculate_delta_Tb(px, py, pz, rz, ry, rx, delta_px, delta_py, delta_pz, delta_rz, delta_ry, delta_rx)
delta_Tb = [                                             0, delta_ry*sin(rx) - delta_rz*cos(rx)*cos(ry), delta_ry*cos(rx) + delta_rz*cos(ry)*sin(rx),                                                                 delta_px*cos(ry)*cos(rz) - delta_pz*sin(ry) + delta_py*cos(ry)*sin(rz);
   delta_rz*cos(rx)*cos(ry) - delta_ry*sin(rx),                                           0,                 delta_rz*sin(ry) - delta_rx, delta_py*(cos(rx)*cos(rz) + sin(rx)*sin(ry)*sin(rz)) - delta_px*(cos(rx)*sin(rz) - cos(rz)*sin(rx)*sin(ry)) + delta_pz*cos(ry)*sin(rx);
 - delta_ry*cos(rx) - delta_rz*cos(ry)*sin(rx),                 delta_rx - delta_rz*sin(ry),                                           0, delta_px*(sin(rx)*sin(rz) + cos(rx)*cos(rz)*sin(ry)) - delta_py*(cos(rz)*sin(rx) - cos(rx)*sin(ry)*sin(rz)) + delta_pz*cos(rx)*cos(ry);
                                             0,                                           0,                                           0,                                                                                                                                      0];